Measurements:

Path: SpacecraftEstimation/AttitudeEstimation

% Outputs the set of acceptable attitude measurements from vectors.
 Computes the measurement matrix, measurements and noise
 matrix given a pixel map from the unit vector measurements. Will update
 q if it has three valid vectors and the attitude error is large
 threshold prevents bad measurement estimates if the attitude estimate
 is greatly different from the actual attitude.
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   Form:
   [h, dz, R] = Measurements( r, sensorData, qECIToB, qBToS, catalog, fScale, threshold )
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   ------
   Inputs
   ------
   r            (1,1)    Measurement noise
   sensorData   (:)      Structure
                          .xy    Pixel values in the xy focal plane
                          .valid 1 = valid measurement
   qECIToB      (4,1)    Quaternion from ECI to body axes
   qBToS        (4,1)    Quaternion from body to sensor axes
   catalog      (3,:)    Target catalog unit vectors
   fScale       (1,1)    Sensor scale factor
   threshold    (1,1)    Threshold for sensor incorporation

   -------
   Outputs
   -------
   h            (n,6)    Linearized measurement matrix
   dz           (n)      The measurement residuals
   R            (n,n)    Measurement noise           
   qECIToB      (4,1)    Quaternion from ECI to body axes

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Children:

SC: Sensor/U2Pix
Common: General/DeBlankLT
Common: Graphics/NewFig
Common: Graphics/PltStyle
Common: Graphics/TitleS
Common: Graphics/XLabelS
Common: Graphics/YLabelS
Common: Graphics/ZLabelS
Common: Quaternion/Q2Mat
Common: Quaternion/QForm
Common: Quaternion/QMult
Math: Linear/Skew

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